误差

With the geometry, theory of errors and optimization principle used and the related national standard referred, a novel 3DLSA for evaluating the spatial straightness errors was proposed, so as to evaluate the spatial straightness errors effectively and to gain the error values with higher accuracy. Then,a mathematical model of the 3DLSA was deduced, true three-dimensional fitting of the spatial line was theoretically carried out.

为了有效地评定空间直线度误差，并得出正确度较高的误差值，运用几何学、误差理论和最优化原理，参照相关国家标准，提出了评定空间直线度误差的三维最小二乘算法（3DLSA），推导了3DLSA算法的数学模型，实现了空间直线的三维拟合。

In this paper,the truncated error of trapezium methodis analyzed under ideal state of electrical power parameters,a sin function,when sampling digital measurement and the relationship between the error and the amount of sampling points is offered.

对电力参数的理想情况采样数字化测量的典型算法的截断误差进行了分析，给出了误差与采样点数的关系；根据国家关于电能质量和公用电网谐波的标准规定，对非正弦状态下的误差也做出了符合实际的估计；在电网正常情况下截断误差与采样点数的关系与理想波形时相同。

Retroreflector array is used as pseudo phase conjugator in the system. The fidelity of the conjugate wave and matching problem of the retroreflector array and Hartmann-Shack wavefront sensor is discussed. Several data fusion methods are presented in order to having two Hartmann-Shack wavefront sensors control one set of wavefront corrector. The misalignment errors of Hartmann-Shack wavefront sensor and arrangement errors of wavefront sensor and deformable mirror are analyzed. At the same time, numerical work based on the data of practically system, such as 61 element AO system, are done corresponding to the problem respectively and the results are given.The system of CP/CM AO is setup to fulfill all the functions.

针对不同的应用环境，提出了四种CP／CM衍生光路；进行了关键器件——角反射器阵列的保真度分析，给出了角反射器阵列作为伪相位共轭器件，与哈特曼—夏克波前传感器的匹配条件，认为角反射器阵列的布局要与哈特曼波前传感器的微透镜阵列布局完全对应，才能达到最优探测效果；提出了四种双哈特曼传感器控制一套波前校正器的数据融合方式，并逐一进行了分析，认为加修正因子斜率融合和电压融合方式在目前工程中是适用的，并进行了相应的数值模拟；给出了哈特曼传感器自身的调整误差分析过程，得到了误差可通过常规标定消除的判断依据；通过数值计算，得到了常规自适应光学系统和CP／CM系统哈特曼传感器和变形镜的对准误差对系统性能的影响，给出了两种系统对于不同对准误差情况下校正效果的变化情况和相应系统容限；以37单元自适应光学系统为基础，搭建了CP／CM自适应光学系统光路，并完成了系列CP／CM功能实现实验，运用双哈特曼传感器数据融合，成功实现了CP／CM自适应光学系统的闭环实验。

Retroreflector array is used as pseudo phase conjugator in the system. The fidelity of the conjugate wave and matching problem of the retroreflector array and Hartmann-Shack wavefront sensor is discussed. Several data fusion methods are presented in order to having two Hartmann-Shack wavefront sensors control one set of wavefront corrector. The misalignment errors of Hartmann-Shack wavefront sensor and arrangement errors of wavefront sensor and deformable mirror are analyzed. At the same time, numerical work based on the data of practically system, such as 61 element AO system, are done corresponding to the problem respectively and the results are given. The system of CP/CM AO is setup to fulfill all the functions. Through the data fusion of two Hartmann-Shack wavefront sensors, the system runs successfully and realizes the close loop. It lays a good foundation for the application of CP/CM AO. Another aspect of this paper is to expand the working band of Hartmann-Shack wavefront sensor through Frequency Transfer of Nonlinear Optics.

针对不同的应用环境，提出了四种CP／CM衍生光路；进行了关键器件——角反射器阵列的保真度分析，给出了角反射器阵列作为伪相位共轭器件，与哈特曼—夏克波前传感器的匹配条件，认为角反射器阵列的布局要与哈特曼波前传感器的微透镜阵列布局完全对应，才能达到最优探测效果；提出了四种双哈特曼传感器控制一套波前校正器的数据融合方式，并逐一进行了分析，认为加修正因子斜率融合和电压融合方式在目前工程中是适用的，并进行了相应的数值模拟；给出了哈特曼传感器自身的调整误差分析过程，得到了误差可通过常规标定消除的判断依据；通过数值计算，得到了常规自适应光学系统和CP／CM系统哈特曼传感器和变形镜的对准误差对系统性能的影响，给出了两种系统对于不同对准误差情况下校正效果的变化情况和相应系统容限；以37单元自适应光学系统为基础，搭建了CP／CM自适应光学系统光路，并完成了系列CP／CM功能实现实验，运用双哈特曼传感器数据融合，成功实现了CP／CM自适应光学系统的闭环实验。

In this paper, based on the fundamental principle of the three-point method roundness error separation technique, the separation of cylindricity error factors and the reconstruction of the measured cylinder profile was intensively studied, and the methods of evaluating the cylindricity form error were discussed. Furthermore, the separation and reconstruction methods of the cylindricity error proposed in this paper were examined by the experiment.

本文采用三点法圆度误差分离技术的基本原理，重点研究圆柱度误差要素的分离和被测圆柱体形貌重构问题，探讨圆柱度形状误差的评定方法，并对本文所提的圆柱度误差分离及重构方法进行实验验证。

Considering the limits of RDSS in active positioning mode,such as poor security,limited capacity,and inability to continuously provide position,velocity and attitude outputs,a technique of tightly coupled RDSS /SINS integrated navigation system is proposed for land vehicles by utilizing the time differenced carrier phase of 3 geostatic satellites.

针对北斗系统有源定位方式保密性差、用户数目有限，不能提供连续的位置、速度、姿态信息的问题，提出利用北斗系统3颗地球静止卫星的载波相位时间差分信息，与车载捷联惯导构成紧组合导航系统，通过扩展卡尔曼滤波器估计并修正惯导系统的速度误差；引入载体的侧向和天向速度约束，改善了速度估计精度；结合北斗系统的伪距信息，消除了长航时条件下位置误差的积累；推导了滤波器观测方程，对组合导航滤波器进行了设计；通过车载实验进行了验证，实验结果表明，速度误差和位置误差的积累受到了有效地抑制，精度满足陆地战车导航的要求。

The horizontal and vertical first derivatives of magnetic anomalies of an infinite cylinder are calculated by the cosine transform method, in which the maximum errors are -0.28 nT/m and 0.47nT/m, respectively and the percent errors are generally within -3.57%~3.27% and -1.94%~1.88%, respectively except several data of the boundary and part are bigger because of remains of Gibbus effect. The calculating curve and theoretical curve are approximately coincident, and there is no influence by effective magnetic dip angle in computing. But the errors with the Fourier transform method are -10.62nT/m and 14.42nT/m, there is large departure between the calculating curve and theoretical curve and evident influence by effective magnetic dip angle in computing.

利用余弦变换法计算的无限长水平圆柱体磁异常水平和垂向一阶导数的最大误差分别为-0.28nT/m、0.47nT/m；水平一阶导数的误差一般在-3.57%~3.27%之间，垂向一阶导数的误差一般在-1.94%~1.88%之间；计算的磁异常一阶导数值与理论值大致重合，而且不受有效磁化倾角的影响而Fourier变换法计算的水平和垂向一阶导数最大误差分别为-10.62nT/m、14.42nT/m，计算曲线与理论曲线偏离大，受磁化倾角的影响也较大。

Several improvements has been made to the existing error analysis as follows: considering the complete form of the fal function in the error analysis; choosing the noncontinuous piecewise Lyapunov function to get better choose rule of parameters; giving the judging criteria of error convergence for the ESO with different parameters and the convergence value of the error.

在现有误差分析的基础上做了如下改进：误差分析中考虑fal函数的完整形式；选用非连续的分段Lyapunov函数，得到了更好的参数选取规则；给出了不同参数下扩张状态观测器误差收敛的评价标准以及误差收敛值。

Differing from the feed-back error compensation method, the selflearning error pre-compensation method offered by the paper is based on both ANN and time series technique to obtain the error pre-compensating curve using the non-linear ANN pre-compensation model. Because of the self-learning character of the ANN, this new type of precompensation model can be self-adjusted.

与常规的反馈补偿方法不同，本文提出的自学习误差预测补偿方法，将时间序列预测与神经网络的自学习自适应优化建模技术相结合，利用神经网络非线性预测模型产生误差预补偿函数，并利用神经网络的自学习特性对所建预测模型进行修正，所以这种新型的误差补偿方法能够获得更高的误差补偿精度和控制速度，简单实用，适于推广，具有生产应用价值。

In the paper, a generalized error model for the robots is set up by using DH coordinates. Moreover, a new analytical technique called"analysis on the error prominency factors for the robot pose error"is proposed. Numerically, the error prominency factor can express the extent of influence on the pose error of the end effector resulted form every DH parameter error within the whole working space of the robot.

在这一研究过程中，除了建立了用DH坐标描述的机器人末端位姿误差和轨迹误差的通用模型之外，还提出了一种新的机器人位姿误差分析技术——机器人位姿误差的显著性分析法。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。